https://zilin-chen-22.github.io/zilinchen.github.io/tag/motion-planning/Motion PlanningHugo Blox Builder (https://hugoblox.com)en-usTue, 15 Jul 2025 00:00:00 +0000https://zilin-chen-22.github.io/zilinchen.github.io/media/icon_hu7729264130191091259.pnghttps://zilin-chen-22.github.io/zilinchen.github.io/tag/motion-planning/https://zilin-chen-22.github.io/zilinchen.github.io/blog/xiaomi/Tue, 15 Jul 2025 00:00:00 +0000https://zilin-chen-22.github.io/zilinchen.github.io/blog/xiaomi/<h2 id="project-overview">Project Overview</h2> <p><strong>Core Objective</strong>: Develop motion planning algorithms for Xiaomi&rsquo;s 7-DOF humanoid robotic arm, enhancing motion precision (&lt;0.3mm error), stability, and robustness against payload variations.<br> <strong>Technical Framework</strong>:</p> <ul> <li>Theoretical Basis: DH parameters, inverse kinematics (IK), trajectory interpolation</li> <li>Toolchain: MuJoCo simulation, C/Python co-development</li> <li>Validation Protocol: Dual verification system complying with ISO 9283 standards (positioning accuracy, path repeatability)</li> </ul> <h2 id="key-technical-achievements">Key Technical Achievements</h2> <ol> <li><strong>Kinematics Algorithm Development</strong> <ul> <li>Forward Kinematics: Established DH-based coordinate transformation model with 0.1mm calculation precision</li> <li>IK Solver Optimization: <ul> <li>Developed universal inverse kinematics interface auto-adapting to URDF configurations</li> <li>Hybrid numerical-geometric solution reducing end-effector positioning error to 0.3mm</li> </ul> </li> <li>Trajectory Smoothing: Implemented Kalman filtering with B-spline interpolation, decreasing joint velocity fluctuations by 30%</li> </ul> </li> <li><strong>Simulation-Physical Validation</strong> <ul> <li>MuJoCo Environment: Calibrated dynamic parameters (gravity compensation, joint friction models) matching h1_2 hardware specs</li> <li>Hardware-in-the-Loop Validation: &lt;1.5% deviation in 50 test trajectories between simulation and physical tests</li> </ul> </li> </ol> <div style="text-align: center;"> <img src="traj.jpg" alt="trajectory planning image" style="width: 80%;"> <div> trajetory planner with filter </div> </div> <div style="text-align: center;"> <img src="error.jpg" alt="enduable error image" style="width: 40%;"> <img src="error2.jpg" alt="enduable error image" style="width: 40%;"> <div> enduable test results demo </div> </div> <h2 id="system-optimization">System Optimization</h2> <p><strong>Three-Core Enhancement Strategy</strong>:</p> <ol> <li>Fail-Safe Mechanism: Collision detection triggering 10ms emergency stop</li> <li>Computational Efficiency: optimized code achieving 1kHz control frequency</li> </ol> <p><strong>Strategic Recommendations</strong>:</p> <ol> <li>Engineering: Implement fault injection testing for failure mode analysis</li> <li>Collaboration: Establish knowledge-sharing platform for URDF optimization</li> </ol>